Methods and systems for selection of a control speed for a remote-controlled vehicle based on rulesets applied to control nodes within a viewing window. In embodiments, a viewing window including control nodes, each having a having ruleset defining operating conditions associated therewith, may be determined. The ruleset for a control node may define operating limitations (e.g., speed limitations, orientation limitations, etc.) at the control node. In embodiments, a control speed plan for the viewing window may be generated based on the operating conditions for each control node within the current viewing window based on the limitations associated with each control node. The control speed plan may include an optimal control speed at each control node within the viewing window and a speed profile indicating an acceleration or deceleration curve to be followed through each of the optimal control speeds in the control speed plan when executing the control speed plan.